This paper presents a column-climbing robot with a mechanical manipulator, which can spirally go up and down a column using wheels. The developed robot can do useful works using the manipulator at the top of a column, e.g., electric pole while communicating wirelessly with an operator panel. It is driven using a battery without any power cables, and the average duration of power is at least one hour. The robot has a function to detect a work object using an optical sensor installed at the bottom of the manipulator. The spirally column-climbing robot developed is demonstrated by experimental works and also by showing it at an exhibition.

1 . 서 론
2 . 나선형 기둥등반로봇 메커니즘 설계
3 . 기둥등반로봇의 기구학
4 . 기둥등반로봇의 운동제어
5. 하드웨어 구성과 무선통신 및 GUI 개발
6. 실험 결과
7. 결 론
후 기

• 이석우(Mechanical Engineering, Konkuk University, Korea) | Suk-Woo Lee
• 하성민(Mechanical Engineering, Konkuk University, Korea) | Sung-Min Ha
• 강철구(Mechanical Engineering, Konkuk) | Chul-Goo Kang Corresponding Author